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<p><a href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot-members.html">List of all members.</a></p>
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<tr><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><b>communicationTask</b></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a882447c2b395e80cde420ba5310872dd">WheelphoneRobot</a> (Activity a, Context c)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Class constructor.  <a href="#a882447c2b395e80cde420ba5310872dd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#acfffaccfff74fdeb71505f19199a8020">startUSBCommunication</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">To be inserted into the "onStart" function of the main activity class.  <a href="#acfffaccfff74fdeb71505f19199a8020"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a2977fe381051570c91f7690cb931f458">resumeUSBCommunication</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">To be inserted into the "onResume" function of the main activity class.  <a href="#a2977fe381051570c91f7690cb931f458"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a001f0b5e413eec78e8055a56b9e5da5f">pauseUSBCommunication</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">To be inserted into the "onPause" function of the main activity class.  <a href="#a001f0b5e413eec78e8055a56b9e5da5f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a0b29ab666dc49836b6cd568a02e272f8">setSpeed</a> (int l, int r)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new left and right speeds for the robot. The new data will be actually sent to the robot when "sendCommandsToRobot" is called the next time within the timer communication task (50 ms cadence). This means that the robot speed will be updated after at most 50 ms (if the task isn't delayed by the system).  <a href="#a0b29ab666dc49836b6cd568a02e272f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa6ab49ebdeb4cdf2611842a445795e13">setLeftSpeed</a> (int l)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new left speed for the robot. For more details refer to "setSpeed".  <a href="#aa6ab49ebdeb4cdf2611842a445795e13"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab94242d34778b2900834f27ad44e868c">setRightSpeed</a> (int r)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new right speed for the robot. For more details refer to "setSpeed".  <a href="#ab94242d34778b2900834f27ad44e868c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a4190d14a71e34131fd416b83703dbf9b">setRawSpeed</a> (int l, int r)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new left and right speeds for the robot. For more details refer to "setSpeed".  <a href="#a4190d14a71e34131fd416b83703dbf9b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab7d6910c8edb860707a439bbe50bd97b">setRawLeftSpeed</a> (int l)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new left speed for the robot. For more details refer to "setSpeed".  <a href="#ab7d6910c8edb860707a439bbe50bd97b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a651a987dee225a51fe26973d505003f2">setRawRightSpeed</a> (int r)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the new right speed for the robot. For more details refer to "setSpeed".  <a href="#a651a987dee225a51fe26973d505003f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a07a72966ce373e9fe7cbdc8abcacf6bc">enableSpeedControl</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable speed control on the robot (controller based on speed measure with back-emf).  <a href="#a07a72966ce373e9fe7cbdc8abcacf6bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a837826866008c5ff1ed453bfc41d1864">disableSpeedControl</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable speed control on the robot.  <a href="#a837826866008c5ff1ed453bfc41d1864"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa521363b0a8829dba5187dcdfb21fb5f">enableSoftAcceleration</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable soft acceleration on the robot; this is useful when the robot is started fast (from standstill) because it avoid the robot to wheelie.  <a href="#aa521363b0a8829dba5187dcdfb21fb5f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a39032d183454bbaa1c34405e492247e0">disableSoftAcceleration</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable soft acceleration on the robot.  <a href="#a39032d183454bbaa1c34405e492247e0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ac5171b72b1ff96ba8fe9142f1a25f3b3">enableObstacleAvoidance</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable obstacle avoidance onboard.  <a href="#ac5171b72b1ff96ba8fe9142f1a25f3b3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#afbace3137ae2906ef0f216e80bc29ce2">disableObstacleAvoidance</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable obstacle avoidance onboard.  <a href="#afbace3137ae2906ef0f216e80bc29ce2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab6a414ae86c2478c1abef7b9ee4c014a">enableCliffAvoidance</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable cliff avoidance onboard; when a cliff is detected the robot is stopped until this flag is reset.  <a href="#ab6a414ae86c2478c1abef7b9ee4c014a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa0d8c26b3d5bf5e9f2d7617706ab1ebe">disableCliffAvoidance</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable cliff avoidance onboard.  <a href="#aa0d8c26b3d5bf5e9f2d7617706ab1ebe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ae51b9688ee2bdce7c52e7cba69441e73">calibrateSensors</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Start the calibration of all the sensors. Use "isCalibrating" to know when the calibration is done.  <a href="#ae51b9688ee2bdce7c52e7cba69441e73"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a0304eeb5d0082ef8326bd41ebdcaadcb">getBatteryRaw</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sampled value of the battery.  <a href="#a0304eeb5d0082ef8326bd41ebdcaadcb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a3b36dc5dd576aa8581bc2936dd7b3074">getBatteryVoltage</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current battery voltage.  <a href="#a3b36dc5dd576aa8581bc2936dd7b3074"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a89d2f9f315e3b9795f5efb055b9c71dc">getFlagStatus</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the flag byte that the robot set/clear itself.  <a href="#a89d2f9f315e3b9795f5efb055b9c71dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a8feaf716645a83c700e9d51c5af7028e">isCharging</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the charging status.  <a href="#a8feaf716645a83c700e9d51c5af7028e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#afc2516554061c3379f08ba698b2ad556">isCharged</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the battery charged status.  <a href="#afc2516554061c3379f08ba698b2ad556"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a58ffceabd33287ff785c749af53acfb0">getLeftEncoder</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The value of the left encoder returned from the robot. The encoders values are based on the measured speed not on a real encoder device. The values given by the robot are the current encoders values, not the absolute value.  <a href="#a58ffceabd33287ff785c749af53acfb0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a38ce3ff2a6c68e20400ba612b15b5d0d">getRightEncoder</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The value of the right encoder returned from the robot. For more details refer to "getLeftEncoder".  <a href="#a38ce3ff2a6c68e20400ba612b15b5d0d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a0a7d63c410014e60eda60d1370e15a7e">getFrontProxs</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot has 4 front proximity sensors positioned as follows:  <a href="#a0a7d63c410014e60eda60d1370e15a7e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a85386b91e2fa7aaf13ec181016df9aca">getFrontProx</a> (int ind)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the corresponding front proximity sensor value. For more details refer to "getFrontProxs".  <a href="#a85386b91e2fa7aaf13ec181016df9aca"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#abe6e1eb6c3530b17bfe9cffc0778c49d">getFrontAmbients</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot has 4 front ambient sensors, actually they are the front proximity sensors that can measure also the ambient light. The higher the value the lighter the environment.  <a href="#abe6e1eb6c3530b17bfe9cffc0778c49d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a73772cca20797333e599aa081e1c8adf">getFrontAmbient</a> (int ind)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the corresponding front ambient sensor value. For more details refer to "getFrontAmbients".  <a href="#a73772cca20797333e599aa081e1c8adf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a66407a864767869bee32e549509b43dd">getFrontProxCalibrationValues</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">When a calibration is done with "calibrateSensors" then the calibrated values are internally stored; these values can be obtained with this function.  <a href="#a66407a864767869bee32e549509b43dd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ad50b68c3daf9d3941078bef2425166de">getGroundProxs</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot has 4 ground proximity sensors positioned as follows:  <a href="#ad50b68c3daf9d3941078bef2425166de"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a76b4c4ea196d49d87b6bd53bc7f243d9">getGroundProx</a> (int ind)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the corresponding ground proximity sensor value. For more details refer to "getGroundProxs".  <a href="#a76b4c4ea196d49d87b6bd53bc7f243d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a604e783e8bb4267777a1a52b527f5b84">getGroundAmbients</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot has 4 ground ambient sensors, actually they are the ground proximity sensors that can measure also the ambient light. The higher the value the lighter the environment.  <a href="#a604e783e8bb4267777a1a52b527f5b84"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a16b969724ec02fc7bb69c5201e0218d4">getGroundAmbient</a> (int ind)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the corresponding ground ambient sensor value. For more details refer to "getGroundAmbients".  <a href="#a16b969724ec02fc7bb69c5201e0218d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab8f9c4a240598ed3c4d6c0ad54627ed6">getGroundProxCalibrationValues</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">When a calibration is done with "calibrateSensors" then the calibrated values are internally stored; these values can be obtained with this function.  <a href="#ab8f9c4a240598ed3c4d6c0ad54627ed6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a78bb1787f7d9512dec0a1b325e052027">isUSBConnected</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicate whether the robot is connected (and exchanging packets) with the phone or not.  <a href="#a78bb1787f7d9512dec0a1b325e052027"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ae069049517e4adc47f69fc43e595d05a">setUSBCommunicationTimeout</a> (int ms)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This timeout sets how much to wait for a response from the robot before changing to a disconnected state.  <a href="#ae069049517e4adc47f69fc43e595d05a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a6496f36375deb43754b4960e7d4577a5">isCalibrating</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Tell whether the calibration is still in progress or not.  <a href="#a6496f36375deb43754b4960e7d4577a5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double[]&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a71af99e88c63af09b521670b9eaea930">getOdometry</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the odometry information resulting from the encoders values received by the robot. The positive X axis is pointing forward and the positive X axis is pointing to the left side of the robot.  <a href="#a71af99e88c63af09b521670b9eaea930"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a80c74e3263b71c288527ef9c48e1970b">getOdometryX</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the x absolute position in mm. For more information refer to "getOdometry".  <a href="#a80c74e3263b71c288527ef9c48e1970b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a5ce85be0d19c1957dd24827ed5dce89b">getOdometryY</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the y absolute position in mm. For more information refer to "getOdometry".  <a href="#a5ce85be0d19c1957dd24827ed5dce89b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab26f55b473f4d8c12e78546eeca82532">getOdometryTheta</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the theta absolute angle in radians. For more information refer to "getOdometry".  <a href="#ab26f55b473f4d8c12e78546eeca82532"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#afb7c444bc422419db2abf1d9f01d7618">setOdometry</a> (double x, double y, double t)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/reset odometry components. For more information refer to "getOdometry".  <a href="#afb7c444bc422419db2abf1d9f01d7618"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a4cd180cb3d2232dff3240fc59a07b248">setOdometryParameters</a> (double dl, double dr, double wb)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/reset odometry parameters.  <a href="#a4cd180cb3d2232dff3240fc59a07b248"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa92ccf607453305d63aefe9e4de74d9f">getFirmwareVersion</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return version of the firmware running on the robot. This is useful to know whether an update is available or not.  <a href="#aa92ccf607453305d63aefe9e4de74d9f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6edb0cb47eac95882c69c1ae23153924"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::appendLog" ref="a6edb0cb47eac95882c69c1ae23153924" args="(String text)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>appendLog</b> (String text)</td></tr>
<tr><td colspan="2"><h2><a name="pac-attribs"></a>
Package Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeab363e08214b1d9136fa0a6e359dff6"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::rightEncoder" ref="aeab363e08214b1d9136fa0a6e359dff6" args="" -->
int&#160;</td><td class="memItemRight" valign="bottom"><b>rightEncoder</b> = 0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6810a08ab7a371ea47308d9b356dff11"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::rSpeed" ref="a6810a08ab7a371ea47308d9b356dff11" args="" -->
int&#160;</td><td class="memItemRight" valign="bottom"><b>rSpeed</b> = 0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2747653edd50335f345aa17da14c4901"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::rightEncSum" ref="a2747653edd50335f345aa17da14c4901" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><b>rightEncSum</b> = 0.0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb17875c0c01e6d5aa47953dd369df68"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::rightEncSumPrev" ref="afb17875c0c01e6d5aa47953dd369df68" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><b>rightEncSumPrev</b> = 0.0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3962d8899fb4c2ccd92456dd1d77d2a4"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::finalTime" ref="a3962d8899fb4c2ccd92456dd1d77d2a4" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><b>finalTime</b> = 0.0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adf5efcf22a5bc70bd0dd10781f346b4f"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::totalTime" ref="adf5efcf22a5bc70bd0dd10781f346b4f" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><b>totalTime</b> = 0.0</td></tr>
</table>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a882447c2b395e80cde420ba5310872dd"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::WheelphoneRobot" ref="a882447c2b395e80cde420ba5310872dd" args="(Activity a, Context c)" -->
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          <td class="memname"><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a882447c2b395e80cde420ba5310872dd">com.wheelphone.wheelphonelibrary.WheelphoneRobot.WheelphoneRobot</a> </td>
          <td>(</td>
          <td class="paramtype">Activity&#160;</td>
          <td class="paramname"><em>a</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Context&#160;</td>
          <td class="paramname"><em>c</em>&#160;</td>
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<p>Class constructor. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">a</td><td>pass the main activity instance (this) </td></tr>
    <tr><td class="paramname">c</td><td>pass the main activity instance (this) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd><a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html">WheelphoneRobot</a> instance </dd></dl>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae51b9688ee2bdce7c52e7cba69441e73"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::calibrateSensors" ref="ae51b9688ee2bdce7c52e7cba69441e73" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ae51b9688ee2bdce7c52e7cba69441e73">com.wheelphone.wheelphonelibrary.WheelphoneRobot.calibrateSensors</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<div class="memdoc">

<p>Start the calibration of all the sensors. Use "isCalibrating" to know when the calibration is done. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

<p><div class="dynheader">
Here is the call graph for this function:</div>
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<div class="center"><img src="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_ae51b9688ee2bdce7c52e7cba69441e73_cgraph.png" border="0" usemap="#classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_ae51b9688ee2bdce7c52e7cba69441e73_cgraph" alt=""/></div>
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</div>
</p>

</div>
</div>
<a class="anchor" id="aa0d8c26b3d5bf5e9f2d7617706ab1ebe"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::disableCliffAvoidance" ref="aa0d8c26b3d5bf5e9f2d7617706ab1ebe" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa0d8c26b3d5bf5e9f2d7617706ab1ebe">com.wheelphone.wheelphonelibrary.WheelphoneRobot.disableCliffAvoidance</a> </td>
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<p>Disable cliff avoidance onboard. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

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<a class="anchor" id="afbace3137ae2906ef0f216e80bc29ce2"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::disableObstacleAvoidance" ref="afbace3137ae2906ef0f216e80bc29ce2" args="()" -->
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<p>Disable obstacle avoidance onboard. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

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<a class="anchor" id="a39032d183454bbaa1c34405e492247e0"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::disableSoftAcceleration" ref="a39032d183454bbaa1c34405e492247e0" args="()" -->
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<p>Disable soft acceleration on the robot. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a837826866008c5ff1ed453bfc41d1864"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::disableSpeedControl" ref="a837826866008c5ff1ed453bfc41d1864" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a837826866008c5ff1ed453bfc41d1864">com.wheelphone.wheelphonelibrary.WheelphoneRobot.disableSpeedControl</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Disable speed control on the robot. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="ab6a414ae86c2478c1abef7b9ee4c014a"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::enableCliffAvoidance" ref="ab6a414ae86c2478c1abef7b9ee4c014a" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab6a414ae86c2478c1abef7b9ee4c014a">com.wheelphone.wheelphonelibrary.WheelphoneRobot.enableCliffAvoidance</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Enable cliff avoidance onboard; when a cliff is detected the robot is stopped until this flag is reset. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="ac5171b72b1ff96ba8fe9142f1a25f3b3"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::enableObstacleAvoidance" ref="ac5171b72b1ff96ba8fe9142f1a25f3b3" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ac5171b72b1ff96ba8fe9142f1a25f3b3">com.wheelphone.wheelphonelibrary.WheelphoneRobot.enableObstacleAvoidance</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<div class="memdoc">

<p>Enable obstacle avoidance onboard. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="aa521363b0a8829dba5187dcdfb21fb5f"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::enableSoftAcceleration" ref="aa521363b0a8829dba5187dcdfb21fb5f" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa521363b0a8829dba5187dcdfb21fb5f">com.wheelphone.wheelphonelibrary.WheelphoneRobot.enableSoftAcceleration</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Enable soft acceleration on the robot; this is useful when the robot is started fast (from standstill) because it avoid the robot to wheelie. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a07a72966ce373e9fe7cbdc8abcacf6bc"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::enableSpeedControl" ref="a07a72966ce373e9fe7cbdc8abcacf6bc" args="()" -->
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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a07a72966ce373e9fe7cbdc8abcacf6bc">com.wheelphone.wheelphonelibrary.WheelphoneRobot.enableSpeedControl</a> </td>
          <td>(</td>
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<p>Enable speed control on the robot (controller based on speed measure with back-emf). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a0304eeb5d0082ef8326bd41ebdcaadcb"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getBatteryRaw" ref="a0304eeb5d0082ef8326bd41ebdcaadcb" args="()" -->
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          <td class="memname">int <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a0304eeb5d0082ef8326bd41ebdcaadcb">com.wheelphone.wheelphonelibrary.WheelphoneRobot.getBatteryRaw</a> </td>
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<p>Returns the sampled value of the battery. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>battery level (from 0 to 100) </dd></dl>

</div>
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<a class="anchor" id="a3b36dc5dd576aa8581bc2936dd7b3074"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getBatteryVoltage" ref="a3b36dc5dd576aa8581bc2936dd7b3074" args="()" -->
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          <td class="memname">float <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a3b36dc5dd576aa8581bc2936dd7b3074">com.wheelphone.wheelphonelibrary.WheelphoneRobot.getBatteryVoltage</a> </td>
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<p>Returns the current battery voltage. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>battery voltage (from 3.7 to 4.2 volts) </dd></dl>

</div>
</div>
<a class="anchor" id="aa92ccf607453305d63aefe9e4de74d9f"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getFirmwareVersion" ref="aa92ccf607453305d63aefe9e4de74d9f" args="()" -->
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          <td class="memname">int com.wheelphone.wheelphonelibrary.WheelphoneRobot.getFirmwareVersion </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Return version of the firmware running on the robot. This is useful to know whether an update is available or not. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>firmware version </dd></dl>

</div>
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<p>Returns the flag byte that the robot set/clear itself. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>flag byte:<ul>
<li>bit 5: 1 =&gt; robot is charging, 0 =&gt; robot not charging</li>
<li>bit 6: 1 =&gt; robot completely charged, 0 =&gt; robot not completely charged</li>
<li>others bits not used </li>
</ul>
</dd></dl>

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<a class="anchor" id="a73772cca20797333e599aa081e1c8adf"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getFrontAmbient" ref="a73772cca20797333e599aa081e1c8adf" args="(int ind)" -->
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<p>Return the corresponding front ambient sensor value. For more details refer to "getFrontAmbients". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>sensor value </dd></dl>

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<p>The robot has 4 front ambient sensors, actually they are the front proximity sensors that can measure also the ambient light. The higher the value the lighter the environment. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors values </dd></dl>

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<a class="anchor" id="a85386b91e2fa7aaf13ec181016df9aca"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getFrontProx" ref="a85386b91e2fa7aaf13ec181016df9aca" args="(int ind)" -->
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<p>Return the corresponding front proximity sensor value. For more details refer to "getFrontProxs". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>sensor value </dd></dl>

</div>
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<a class="anchor" id="a66407a864767869bee32e549509b43dd"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getFrontProxCalibrationValues" ref="a66407a864767869bee32e549509b43dd" args="()" -->
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<p>When a calibration is done with "calibrateSensors" then the calibrated values are internally stored; these values can be obtained with this function. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors calibration values </dd></dl>

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<p>The robot has 4 front proximity sensors positioned as follows: </p>
<div class="fragment"><pre class="fragment">
     			1	2
     		0			3
       </pre></div><p> The higher the value the nearer the object in front of the sensor. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors values </dd></dl>

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<a class="anchor" id="a16b969724ec02fc7bb69c5201e0218d4"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getGroundAmbient" ref="a16b969724ec02fc7bb69c5201e0218d4" args="(int ind)" -->
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<p>Return the corresponding ground ambient sensor value. For more details refer to "getGroundAmbients". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>sensor value </dd></dl>

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<p>The robot has 4 ground ambient sensors, actually they are the ground proximity sensors that can measure also the ambient light. The higher the value the lighter the environment. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors values </dd></dl>

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<p>Return the corresponding ground proximity sensor value. For more details refer to "getGroundProxs". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>sensor value </dd></dl>

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<p>When a calibration is done with "calibrateSensors" then the calibrated values are internally stored; these values can be obtained with this function. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors calibration values </dd></dl>

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<p>The robot has 4 ground proximity sensors positioned as follows: </p>
<div class="fragment"><pre class="fragment">
     			1	2
     		0			3
       </pre></div><p> The higher the value the darker the object in front of the sensor. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of size 4 containing the sensors values </dd></dl>

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<a class="anchor" id="a58ffceabd33287ff785c749af53acfb0"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getLeftEncoder" ref="a58ffceabd33287ff785c749af53acfb0" args="()" -->
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<p>The value of the left encoder returned from the robot. The encoders values are based on the measured speed not on a real encoder device. The values given by the robot are the current encoders values, not the absolute value. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>left encoder (positive or negative) </dd></dl>

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<a class="anchor" id="a71af99e88c63af09b521670b9eaea930"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getOdometry" ref="a71af99e88c63af09b521670b9eaea930" args="()" -->
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<p>Return the odometry information resulting from the encoders values received by the robot. The positive X axis is pointing forward and the positive X axis is pointing to the left side of the robot. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>array of length 3 containing sequentially x position (mm), y position (mm), theta (radians). </dd></dl>

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<p>Return the theta absolute angle in radians. For more information refer to "getOdometry". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>theta (radians) </dd></dl>

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<p>Return the x absolute position in mm. For more information refer to "getOdometry". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>x position (mm) </dd></dl>

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<a class="anchor" id="a5ce85be0d19c1957dd24827ed5dce89b"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getOdometryY" ref="a5ce85be0d19c1957dd24827ed5dce89b" args="()" -->
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<p>Return the y absolute position in mm. For more information refer to "getOdometry". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>y position (mm) </dd></dl>

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<a class="anchor" id="a38ce3ff2a6c68e20400ba612b15b5d0d"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::getRightEncoder" ref="a38ce3ff2a6c68e20400ba612b15b5d0d" args="()" -->
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<p>The value of the right encoder returned from the robot. For more details refer to "getLeftEncoder". </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>right encoder (positive or negative) </dd></dl>

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<a class="anchor" id="a6496f36375deb43754b4960e7d4577a5"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::isCalibrating" ref="a6496f36375deb43754b4960e7d4577a5" args="()" -->
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<p>Tell whether the calibration is still in progress or not. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true (calibration in progress), false otherwise </dd></dl>

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Here is the caller graph for this function:</div>
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<a class="anchor" id="afc2516554061c3379f08ba698b2ad556"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::isCharged" ref="afc2516554061c3379f08ba698b2ad556" args="()" -->
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<p>Returns the battery charged status. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if battery charged, false otherwise </dd></dl>

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<p>Returns the charging status. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if charging, false otherwise </dd></dl>

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<p>Indicate whether the robot is connected (and exchanging packets) with the phone or not. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true (if robot connected), false otherwise </dd></dl>

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          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a001f0b5e413eec78e8055a56b9e5da5f">com.wheelphone.wheelphonelibrary.WheelphoneRobot.pauseUSBCommunication</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>To be inserted into the "onPause" function of the main activity class. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

<p><div class="dynheader">
Here is the call graph for this function:</div>
<div class="dyncontent">
<div class="center"><img src="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_a001f0b5e413eec78e8055a56b9e5da5f_cgraph.png" border="0" usemap="#classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_a001f0b5e413eec78e8055a56b9e5da5f_cgraph" alt=""/></div>
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</p>

</div>
</div>
<a class="anchor" id="a2977fe381051570c91f7690cb931f458"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::resumeUSBCommunication" ref="a2977fe381051570c91f7690cb931f458" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a2977fe381051570c91f7690cb931f458">com.wheelphone.wheelphonelibrary.WheelphoneRobot.resumeUSBCommunication</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>To be inserted into the "onResume" function of the main activity class. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

<p><div class="dynheader">
Here is the call graph for this function:</div>
<div class="dyncontent">
<div class="center"><img src="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_a2977fe381051570c91f7690cb931f458_cgraph.png" border="0" usemap="#classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot_a2977fe381051570c91f7690cb931f458_cgraph" alt=""/></div>
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</p>

</div>
</div>
<a class="anchor" id="aa6ab49ebdeb4cdf2611842a445795e13"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setLeftSpeed" ref="aa6ab49ebdeb4cdf2611842a445795e13" args="(int l)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#aa6ab49ebdeb4cdf2611842a445795e13">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setLeftSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>l</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new left speed for the robot. For more details refer to "setSpeed". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">l</td><td>left speed given in mm/s </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="afb7c444bc422419db2abf1d9f01d7618"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setOdometry" ref="afb7c444bc422419db2abf1d9f01d7618" args="(double x, double y, double t)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#afb7c444bc422419db2abf1d9f01d7618">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setOdometry</a> </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>t</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set/reset odometry components. For more information refer to "getOdometry". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>x position (mm) </td></tr>
    <tr><td class="paramname">y</td><td>y position (mm) </td></tr>
    <tr><td class="paramname">t</td><td>theta angle (radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a4cd180cb3d2232dff3240fc59a07b248"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setOdometryParameters" ref="a4cd180cb3d2232dff3240fc59a07b248" args="(double dl, double dr, double wb)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a4cd180cb3d2232dff3240fc59a07b248">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setOdometryParameters</a> </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>dl</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>dr</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>wb</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set/reset odometry parameters. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">dl</td><td>left wheel diamater (m) </td></tr>
    <tr><td class="paramname">dr</td><td>right wheel diamater (m) </td></tr>
    <tr><td class="paramname">wb</td><td>wheels distance (m) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="ab7d6910c8edb860707a439bbe50bd97b"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setRawLeftSpeed" ref="ab7d6910c8edb860707a439bbe50bd97b" args="(int l)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab7d6910c8edb860707a439bbe50bd97b">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setRawLeftSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>l</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new left speed for the robot. For more details refer to "setSpeed". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">l</td><td>left speed (range is from -127 to 127) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a651a987dee225a51fe26973d505003f2"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setRawRightSpeed" ref="a651a987dee225a51fe26973d505003f2" args="(int r)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a651a987dee225a51fe26973d505003f2">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setRawRightSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>r</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new right speed for the robot. For more details refer to "setSpeed". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">r</td><td>right speed (range is from -127 to 127) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a4190d14a71e34131fd416b83703dbf9b"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setRawSpeed" ref="a4190d14a71e34131fd416b83703dbf9b" args="(int l, int r)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a4190d14a71e34131fd416b83703dbf9b">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setRawSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>l</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>r</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new left and right speeds for the robot. For more details refer to "setSpeed". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">l</td><td>left speed (range is from -127 to 127) </td></tr>
    <tr><td class="paramname">r</td><td>right speed (range is from -127 to 127) </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="ab94242d34778b2900834f27ad44e868c"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setRightSpeed" ref="ab94242d34778b2900834f27ad44e868c" args="(int r)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ab94242d34778b2900834f27ad44e868c">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setRightSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>r</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new right speed for the robot. For more details refer to "setSpeed". </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">r</td><td>right speed given in mm/s </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a0b29ab666dc49836b6cd568a02e272f8"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setSpeed" ref="a0b29ab666dc49836b6cd568a02e272f8" args="(int l, int r)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#a0b29ab666dc49836b6cd568a02e272f8">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setSpeed</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>l</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>r</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the new left and right speeds for the robot. The new data will be actually sent to the robot when "sendCommandsToRobot" is called the next time within the timer communication task (50 ms cadence). This means that the robot speed will be updated after at most 50 ms (if the task isn't delayed by the system). </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">l</td><td>left speed given in mm/s </td></tr>
    <tr><td class="paramname">r</td><td>right speed given in mm/s </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="ae069049517e4adc47f69fc43e595d05a"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::setUSBCommunicationTimeout" ref="ae069049517e4adc47f69fc43e595d05a" args="(int ms)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#ae069049517e4adc47f69fc43e595d05a">com.wheelphone.wheelphonelibrary.WheelphoneRobot.setUSBCommunicationTimeout</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>ms</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>This timeout sets how much to wait for a response from the robot before changing to a disconnected state. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">timeout</td><td>in milliseconds </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="acfffaccfff74fdeb71505f19199a8020"></a><!-- doxytag: member="com::wheelphone::wheelphonelibrary::WheelphoneRobot::startUSBCommunication" ref="acfffaccfff74fdeb71505f19199a8020" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classcom_1_1wheelphone_1_1wheelphonelibrary_1_1_wheelphone_robot.html#acfffaccfff74fdeb71505f19199a8020">com.wheelphone.wheelphonelibrary.WheelphoneRobot.startUSBCommunication</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>To be inserted into the "onStart" function of the main activity class. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>H:/lavoro/local-repo/phonebot-working/_android-side/WheelphoneLibrary/src/com/wheelphone/wheelphonelibrary/<a class="el" href="_wheelphone_robot_8java.html">WheelphoneRobot.java</a></li>
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